/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file sl_point_util.cc
 **/

#include "modules/planning/common/path/sl_point_util.h"

namespace apollo {
namespace planning {
namespace util {

common::SLPoint interpolate(const common::SLPoint& start,
                            const common::SLPoint& end, const double weight) {
  common::SLPoint point;
  double s = start.s() * (1 - weight) + end.s() * weight;
  double l = start.l() * (1 - weight) + end.l() * weight;
  point.set_s(s);
  point.set_l(l);
  return point;
}

}  // namespace util
}  // namespace planning
}  // namespace apollo